Intelligent touch sleep pacifying robot

Abstract

The invention provides an intelligent touch sleep pacifying robot, and relates to the technical field of sleep assistion.The intelligent touch sleep pacifying robot comprises a robot body, mechanical arms are arranged on the two sides of the robot body, the mechanical arms can be controlled by the robot body, and pacifying mechanisms are arranged at the ends of the two mechanical arms correspondingly; the stroking mechanism can be used for stroking and pacifying, and the stroking mechanism is controlled by the robot body. During use, the connecting device is arranged at the end of the mechanical arm to be connected with the stroking pressure applying device, the pressure sensing device is arranged on the palm portion of the stroking pressure applying device, and in the use process, the robot body, the mechanical arm and the connecting device are matched to drive the stroking pressure applying device to make contact with the human body, so that physical pacifying is achieved; and the pressure sensing device is used for sensing the stroking pressure applying device to adjust the pressure of the human body in real time, so that actions such as light beating and stroking are realized, and the effect of more effectively assisting sleeping is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of sleep assistance, and in particular to an intelligent tactile sleep soothing robot. Background Art

[0002] With the increase of life and work pressure, sleep problems are becoming more and more prominent worldwide. Common sleep aids, such as white noise machines, aromatherapy devices and smart lighting systems, are usually limited to a single soothing mode and it is difficult to achieve a full relaxation effect. In addition, existing sleep aid technologies lack interaction with the user's body and cannot soothe the human body through physical contact with the body.

[0003] Therefore, it is necessary to develop an intelligent tactile sleep soothing robot that can achieve soothing through direct contact with the human body, so as to help users relieve stress and enhance relaxation experience, thereby more effectively assisting sleep. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide an intelligent tactile sleep soothing robot to solve the problem in the prior art that it is impossible to soothe the human body through physical contact with the body.

[0005] In order to achieve the above-mentioned purpose and other related purposes, the present invention provides an intelligent tactile sleep soothing robot, comprising:

[0006] A robot body, wherein both sides of the robot body are provided with mechanical arms, and the mechanical arms can be controlled by the robot body;

[0007] A stroking mechanism, which is respectively arranged at the ends of the two mechanical arms, and can be used for stroking and soothing, and is controlled by the robot body;

[0008] The stroking mechanism includes a connecting device, a stroking pressure device and a pressure sensing device. The connecting device is connected to the end of the robotic arm and can rotate at the end of the robotic arm. The stroking pressure device is arranged at the end of the connecting device and can simulate palm movements. The pressure sensing device is arranged on the inner palm of the stroking pressure device to sense the pressure between the stroking pressure device and the human body.

[0009] Preferably, the connecting device comprises a flange, a connecting shaft is arranged at the axis of the flange facing the mechanical arm, and a wire entry hole is arranged at the axis of the connecting shaft for wiring to the interior of the touch pressure device.

[0010] Preferably, the flange is also provided with a plurality of control wire tube holes, and the number of the control wire tube holes matches the number of fingers of the touch pressure device.

[0011] Preferably, the touch and pressure device includes a simulated skin, which is in the shape of a palm, and a control component matched with the number of fingers of the simulated skin is arranged inside the simulated skin, and a joint flexibility control part is connected to the control component, one end of the joint flexibility control part extends to each finger respectively, and the other end of the joint flexibility control part passes through the control wire tube hole and extends to the interior of the robot body.

[0012] Preferably, the simulated skin is made of soft and breathable material, and the simulated skin simulates the texture of leather.

[0013] Preferably, the joint flexibility control part comprises a support tube, both ends of the support tube are connected with bellows respectively, and a plurality of traction members pass through the interior of the support tube and the bellows respectively;

[0014] Each of the traction members is respectively connected to a different output port of the control component.

[0015] Preferably, the pressure sensing device is arranged at one of the fingertips, finger pulps and palms of the stroking pressure applying device, and / or a combination of these.

[0016] Preferably, the robot body further comprises an aromatherapy chamber arranged inside the robot body and a circulation hole opened on the surface of the robot body and communicating with the aromatherapy chamber;

[0017] A heating mechanism is arranged inside the aromatherapy chamber, a vessel is arranged on the heating mechanism, and the heating mechanism can heat the vessel.

[0018] Preferably, the heating mechanism comprises a carrying plate, a heating plate is arranged at the inner bottom of the carrying plate, the heating plate can be controlled by the robot body, and a limiting member is arranged around the heating plate, and the limiting member can limit the position of the vessel.

[0019] Preferably, the robot body is also provided with a lighting device, an interactive mechanism and a speaker respectively;

[0020] The lighting device can change the luminous color.

[0021] As described above, the intelligent tactile sleep soothing robot of the present invention has the following beneficial effects:

[0022] 1. The present invention provides a connecting device at the end of the robot arm to connect to the touch and pressure device, and provides a pressure sensing device on the palm of the touch and pressure device. During use, the robot body, the robot arm and the connecting device cooperate to drive the touch and pressure device to contact the human body, thereby achieving physical comfort, and the pressure sensing device senses the pressure of the touch and pressure device on the human body to adjust the pressure in real time, thereby achieving actions such as patting and touching, and achieving a more effective effect of assisting falling asleep.

[0023] 2. The present invention respectively sets wire entry holes and control wire tube holes on the flange and the connecting shaft for arranging the lines or pipelines respectively, and controls the joint flexibility control parts separately through the control components, so that the fingers of the simulated skin can be controlled separately to simulate the movements of real human palms, and when soothing, the soft simulated skin and joint flexibility control parts can make the human body more comfortable.

[0024] 3. The present invention forms a joint flexibility control part by arranging a support tube, a bellows and a traction member, so that when the multiple traction members are controlled asynchronously, the multiple traction members can be in different states respectively, thereby pulling the bellows to bend to different degrees, so that different touch sensations can be applied by a single finger, the base of the palm or the whole palm, achieving a richer touch mode effect.

[0025] 4. The present invention heats the vessel by arranging a heating mechanism inside the robot body to enhance the evaporation of the aroma inside the vessel. At the same time, a lighting device, an interactive mechanism and a speaker are also arranged on the robot body respectively, so as to enhance the sleep-aiding effect through smell, lighting atmosphere and sound, and realize human-computer interaction through the interactive mechanism.

[0026] Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Shown is a schematic structural diagram of the present invention.

[0028] Figure 2 Shown is a rear view of the mechanism of the present invention.

[0029] Figure 3 Shown is a schematic structural diagram of the touch mechanism of the present invention.

[0030] Figure 4 Shown is a schematic structural diagram of the connecting device of the present invention.

[0031] Figure 5 Shown is a bottom view of the structure of the connecting device of the present invention.

[0032] Figure 6 Shown is a schematic structural diagram of the touch pressure device of the present invention.

[0033] Figure 7 Shown is a schematic structural diagram of the joint flexibility control portion of the present invention.

[0034] Figure 8 Shown is a schematic diagram of the structure of the interior of the aromatherapy chamber of the present invention.

[0035] Fig. 9 Shown is a schematic structural diagram of the heating mechanism of the present invention.

[0036] Component number description

[0037] 1. Robot body; 2. Robotic arm; 3. Touch mechanism; 301. Connecting device; 3011. Flange; 3012. Connecting shaft; 3013. Wire entry hole; 3014. Control wire tube hole; 302. Touch pressure device; 3021. Simulated skin; 3022. Control component; 3023. Joint flexibility control part; 30231. Support tube; 30232. Bellows; 30233. Traction part; 303. Pressure sensing device; 4. Lighting device; 5. Aromatherapy chamber; 6. Circulation hole; 7. Heating mechanism; 701. Carrying plate; 702. Heating plate; 703. Limiting member; 8. Vessel; 9. Interaction mechanism; 10. Speaker. DETAILED DESCRIPTION

[0038] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0039] See also Figures 1 to 9 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0040] like Figure 1-Figure 2 As shown, the present invention provides an intelligent tactile sleep soothing robot, including a robot body 1 and a touch mechanism 3. The bottom of the robot body 1 is provided with a universal roller, which is used to enable the robot body 1 to move freely indoors. At the same time, the interior of the robot body 1 is also provided with a module for logical control and remote interaction, which is used to realize human-computer interaction. The implementation means of this technology are existing technologies, and the means are diversified. Therefore, this application does not elaborate on the working principle of the robot body 1. Mechanical arms 2 are provided on both sides of the robot body 1, and the mechanical arms 2 can be controlled by the robot body 1 to realize the swinging and bending of the mechanical arms 2, which is used to simulate the arm movement of the human body.

[0041] The caressing mechanism 3 is respectively arranged at the ends of the two mechanical arms 2. At the same time, the control circuit of the caressing mechanism 3 is led to the inside of the robot body 1 through the inside of the mechanical arms 2 and is controlled by the robot body 1. The caressing mechanism 3 contacts the human body according to the setting of the robot body 1, and can be used for caressing and soothing through operations such as caressing and patting, so as to assist the human body to sleep.

[0042] like Figure 3-Figure 6 As shown, the stroking mechanism 3 includes a connecting device 301, a stroking pressure device 302 and a pressure sensing device 303. The connecting device 301 is connected to the end of the robot arm 2, and the connecting device 301 is driven by a driving device arranged at the end of the robot arm 2, so that the connecting device 301 can rotate at the end of the robot arm 2, and is used to adjust the angle between the stroking pressure device 302 and the human body. The stroking pressure device 302 is arranged at the end of the connecting device 301, and the stroking pressure device 302 can simulate the palm movement. When the connecting device 301 rotates, the stroking pressure device 302 will rotate accordingly, so as to contact the human body at a suitable angle. In order to further improve the use effect, the camera of the robot body 1 is connected to a visual auxiliary device, and the angle of the stroking pressure device 302 can be adjusted at any time through visual observation. The pressure sensing device 303 is arranged on the inner palm of the stroking pressure device 302 to sense the pressure between the stroking pressure device 302 and the human body. When stroking, it can prevent the stroking pressure device 302 from applying excessive pressure to the human body and causing discomfort to the human body. At the same time, it can also determine whether the human body is in a relaxed state by detecting the stiffness of the human skin and muscles. In order to further improve the soothing effect on the human body, a temperature control element, such as a PTC heating element, can be arranged on the palm part of the stroking pressure device 302 to assist in heating the stroking pressure device 302 to improve the comfort of the human body.

[0043] like Figure 4 As shown, in some embodiments, the connection device 301 of the present invention includes a flange 3011, and a connection shaft 3012 is provided at the axis of the flange 3011 facing the robot arm 2. The flange 3011 is used to connect with the touch and pressure device 302, and the connection shaft 3012 is used to connect with the driving device of the robot arm 2. The axis of the connection shaft 3012 is provided with a wire entry hole 3013 for wiring inside the touch and pressure device 302, so that the touch and pressure device 302 can be controlled by the robot body 1.

[0044] like Figure 4 As shown, in some embodiments, the flange 3011 of the present invention is further provided with a plurality of control line tube holes 3014, and the number of the control line tube holes 3014 matches the number of fingers of the touch pressure device 302. Thus, the main line and the branch control line are separated to facilitate maintenance and avoid excessive entanglement of the lines.

[0045] like Figure 6 As shown, in some embodiments, the touch pressure device 302 of the present invention includes a simulated skin 3021, which is in the shape of a palm and is used to simulate a palm, improve the aesthetics and touch feeling. The interior of the simulated skin 3021 is provided with a control component 3022 adapted to the number of fingers of the simulated skin 3021, and the control component 3022 is connected with a joint flexibility control part 3023, one end of the joint flexibility control part 3023 extends to each finger respectively, and the other end of the joint flexibility control part 3023 passes through the control line tube hole 3014 and extends to the interior of the robot body 1. Each control component 3022 controls each joint flexibility control part 3023 separately, so as to realize the diversification of palm movements and realize the effect of human hand simulation. The control component 3022 and the joint flexibility control part 3023 are matching devices. When the joint flexibility control part 3023 is pneumatic, the control component 3022 is a solenoid valve; when the joint flexibility control part 3023 is electric, the control component 3022 is a power distributor.

[0046] The simulated skin 3021 of the present invention is made of soft breathable material, and the simulated skin 3021 simulates the texture of leather, thereby ensuring that the user can maintain a comfortable feeling during long-term use and avoid the feeling of foreign matter during touching.

[0047] like Figure 7 As shown, in some embodiments, the joint flexibility control part 3023 of the present invention includes a support tube 30231, and the two ends of the support tube 30231 are respectively connected to a bellows 30232. The support tube 30231 is arranged between the bellows 30232 to maintain the overall shape and hardness of the bellows 30232, so as to avoid the bellows 30232 being too soft and difficult to control the direction. A plurality of traction members 30233 are respectively passed through the interior of the support tube 30231 and the bellows 30232. When the traction member 30233 is subjected to traction, it will deform, thereby driving the bellows 30232 to deform, thereby simulating different movements of the human palm. Its specific working principle can be retrieved by the flexible robotic arm for understanding.

[0048] Each traction member 30233 is respectively connected to a different output port of the control component 3022, so that each traction member 30233 can be controlled individually, thereby achieving richer palm simulation movements.

[0049] like Figure 5As shown, in some embodiments, the pressure sensing device 303 of the present invention is set at one of the fingertips, finger pulps and palms of the touch pressure device 302, and / or a combination of them. When the pressure sensing device 303 is set, when soothing sleep, the pressure sensing device 303 will contact the human body under different actions of the touch pressure device 302, thereby sensing the pressure applied by the touch pressure device 302 to the human body and protecting the human body.

[0050] like Figure 8 As shown, in some embodiments, the robot body 1 of the present invention further includes an aroma chamber 5 disposed inside the robot body 1 and a circulation hole 6 opened on the surface of the robot body 1 and communicating with the aroma chamber 5, which is used to increase the circulation of gas so that the aroma inside the aroma chamber 5 can be emitted into the air. A heating mechanism 7 is disposed inside the aroma chamber 5, and a vessel 8 is disposed on the heating mechanism 7. The heating mechanism 7 can heat the vessel 8, so that the aroma inside the vessel 8 can evaporate quickly, thereby enhancing the soothing effect on sleep from the sense of smell.

[0051] like Fig. 9 As shown, in some embodiments, the heating mechanism 7 of the present invention includes a carrier plate 701, which is used to limit the position of the vessel 8 to prevent the vessel 8 from being displaced and tipped over when the robot body 1 moves. A heating plate 702 is provided at the inner bottom of the carrier plate 701. When aromatherapy is required, the robot body 1 controls the heating plate 702 to heat the vessel 8 to enhance the volatilization of the aromatherapy liquid inside the vessel 8. The power of the heating plate 702 can be adjusted by the robot body 1 according to different needs. The heating plate 702 is a resistance heating device, and the heating power is adjusted by adjusting the magnitude of the current. A limiting member 703 is provided around the heating plate 702, and the limiting member 703 is used to further limit the position of the vessel 8, and is used to reduce the amplitude of the shaking of the vessel 8 when the robot body 1 moves. The limiting member 703 is an elastic curved sheet structure, which clamps the vessel 8 under the pressure of deformation.

[0052] like Fig. 9 As shown, in some embodiments, the robot body 1 of the present invention is also provided with a lighting device 4, an interactive mechanism 9 and a speaker 10. Among them, the lighting device 4 can change the luminous color to create different lighting atmospheres and achieve sleep soothing through lighting; the interactive mechanism 9 is a display tablet with touch and wireless functions, which is used to facilitate human-computer exchange. When controlling, it can be controlled by touch screen, voice or APP to improve the convenience of interaction. And the interactive mechanism 9 also has a playback function. The speaker 10 is used to play sound, such as white noise, music, interactive prompts, etc.

[0053] The specific use process of the present invention is as follows:

[0054] The user sets the functions of the robot body 1 through voice, touch screen, APP, etc.

[0055] When the user enters a sleeping position, the robot body 1 moves to the side of the user according to the settings;

[0056] Perform lighting, sound, aromatherapy and touch actions according to the settings;

[0057] During the stroking process, the pressure sensing device 303 transmits the stroking force to the robot body 1 in real time, and the robot body 1 adjusts the stroking force of the stroking pressure device 302 in real time according to the feedback data.

[0058] In summary, the intelligent tactile sleep soothing robot of the present invention, by setting a connecting device 301 at the end of the robotic arm 2 to connect the touch pressure device 302, and setting a pressure sensing device 303 at the palm of the touch pressure device 302. During use, the robot body 1, the robotic arm 2 and the connecting device 301 cooperate to drive the touch pressure device 302 to contact the human body, thereby achieving physical soothing, and through the pressure sensing device 303, the touch pressure device 302 is sensed to adjust the pressure of the human body in real time, thereby realizing actions such as patting and touching, and achieving a more effective effect of assisting falling asleep.

[0059] By respectively arranging a wire entry hole 3013 and a control wire tube hole 3014 on the flange 3011 and the connecting shaft 3012, the lines or pipelines can be arranged respectively, and the joint flexibility control part 3023 can be controlled separately through the control component 3022, so that the fingers of the simulated skin 3021 can be controlled separately to simulate the movements of a real person's palm, and when soothing, the soft simulated skin 3021 and the joint flexibility control part 3023 can make the human body more comfortable.

[0060] The joint flexibility control part 3023 is composed of a support tube 30231, a bellows 30232 and a traction member 30233. When the multiple traction members 30233 are controlled asynchronously, the multiple traction members 30233 can be in different states respectively, thereby pulling the bellows 30232 to bend to different degrees, so that different touch sensations can be applied by a single finger, the base of the palm or the entire palm, thereby achieving a richer touch mode effect.

[0061] A heating mechanism 7 is provided inside the robot body 1 to heat the vessel 8, thereby improving the evaporation of the aroma inside the vessel 8. At the same time, a lighting device 4, an interactive mechanism 9 and a speaker 10 are also provided on the robot body 1, thereby improving the sleep-aiding effect through smell, lighting atmosphere and sound, and realizing human-computer interaction through the interactive mechanism 9.

[0062] Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0063] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. An intelligent tactile sleep soothing robot, characterized in that: include: A robot body (1), wherein mechanical arms (2) are arranged on both sides of the robot body (1), and the mechanical arms (2) can be controlled by the robot body (1); A stroking mechanism (3), the stroking mechanism (3) being respectively arranged at the ends of the two robot arms (2), the stroking mechanism (3) being used for stroking and soothing, and the stroking mechanism (3) being controlled by the robot body (1); The stroking mechanism (3) comprises a connecting device (301), a stroking pressure device (302) and a pressure sensing device (303); the connecting device (301) is connected to the end of the mechanical arm (2); the connecting device (301) can rotate at the end of the mechanical arm (2); the stroking pressure device (302) is arranged at the end of the connecting device (301); the stroking pressure device (302) can simulate palm movements; and the pressure sensing device (303) is arranged at the inner palm of the stroking pressure device (302) for sensing the pressure between the stroking pressure device (302) and the human body.

2. The intelligent tactile sleep soothing robot according to claim 1, characterized in that: The connecting device (301) comprises a flange (3011), a connecting shaft (3012) is arranged at the axis of the flange (3011) facing the mechanical arm (2), and a wire entry hole (3013) is arranged at the axis of the connecting shaft (3012) for wiring inside the stroking pressure device (302).

3. The intelligent tactile sleep soothing robot according to claim 2, characterized in that: The flange (3011) is also provided with a plurality of control wire tube holes (3014), and the number of the control wire tube holes (3014) is adapted to the number of fingers of the stroking pressure applying device (302).

4. The intelligent tactile sleep soothing robot according to claim 3, characterized in that: The stroking pressure device (302) comprises a simulated skin (3021), the simulated skin (3021) is in the shape of a palm, a control component (3022) adapted to the number of fingers of the simulated skin (3021) is arranged inside the simulated skin (3021), a joint flexibility control part (3023) is connected to the control component (3022), one end of the joint flexibility control part (3023) extends to each finger respectively, and the other end of the joint flexibility control part (3023) passes through the control line tube hole (3014) and extends to the inside of the robot body (1).

5. The intelligent tactile sleep soothing robot according to claim 4, characterized in that: The simulated skin (3021) is made of a soft breathable material, and the simulated skin (3021) simulates the texture of leather.

6. The intelligent tactile sleep soothing robot according to claim 4, characterized in that: The joint flexibility control part (3023) comprises a support tube (30231), both ends of the support tube (30231) are respectively connected to a bellows (30232), and a plurality of traction members (30233) pass through the interiors of the support tube (30231) and the bellows (30232); Each of the traction members (30233) is respectively connected to a different output port of the control member (3022).

7. The intelligent tactile sleep soothing robot according to claim 1, characterized in that: The pressure sensing device (303) is arranged at one of the fingertips, finger pulps and palms of the stroking pressure applying device (302), and / or a combination of these.

8. The intelligent tactile sleep soothing robot according to claim 1, characterized in that: The robot body (1) further comprises an aromatherapy chamber (5) arranged inside the robot body (1) and a circulation hole (6) provided on the surface of the robot body (1) and communicating with the aromatherapy chamber (5); A heating mechanism (7) is arranged inside the aromatherapy chamber (5), a vessel (8) is arranged on the heating mechanism (7), and the heating mechanism (7) can heat the vessel (8).

9. The intelligent tactile sleep soothing robot according to claim 8, characterized in that: The heating mechanism (7) comprises a carrying plate (701), the inner bottom of which is provided with a heating plate (702), the heating plate (702) being controllable by the robot body (1), and a limiting member (703) being provided around the heating plate (702), the limiting member (703) being capable of limiting the position of the vessel (8).

10. The intelligent tactile sleep soothing robot according to claim 1, characterized in that: The robot body (1) is also provided with a lighting device (4), an interactive mechanism (9) and a speaker (10); The lighting device (4) can change the luminous color.

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